TeleFMG: A Wearable Force-Myography Device for Natural Teleoperation of Multi-Finger Robotic Hands

Alon Mizrahi, Avishai Sintov*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


Teleoperation enables a user to perform dangerous tasks (e.g., work in disaster zones or in chemical plants) from a remote location. Nevertheless, common approaches often provide cumbersome and unnatural usage. In this letter, we propose TeleFMG, an approach for teleoperation of a multi-finger robotic hand through natural motions of the user's hand. By using a low-cost wearable Force-Myography (FMG) device, musculoskeletal activities on the user's forearm are mapped to hand poses which, in turn, are mimicked by a robotic hand. The mapping is performed by a spatio-temporal data-based model based on the Temporal Convolutional Network. The model considers spatial positions of the sensors on the forearm along with temporal dependencies of the FMG signals. A set of experiments show the ability of a teleoperator to control a multi-finger hand through intuitive and natural finger motion. A robot is shown to successfully mimic the user's hand in object grasping and gestures. Furthermore, transfer to a new user is evaluated while showing that fine-tuning with a limited amount of new data significantly improves accuracy.

Original languageEnglish
Pages (from-to)2933-2940
Number of pages8
JournalIEEE Robotics and Automation Letters
Issue number3
StatePublished - 1 Mar 2024


  • Telerobotics and teleoperation
  • multifingered hands


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